tag::ConstantPosition::Model Class Reference
[Constant Position]

#include <constantposition.h>

List of all members.

Public Member Functions
	Model (void)
TooN::Matrix< State::STATE_DIMENSION > &	getJacobian (const State &state, double dt)
	Jacobian has pos, rot in this order.
void	updateState (State &state, const double dt)
TooN::Matrix< State::STATE_DIMENSION > &	getNoiseCovariance (double dt)
void	updateFromMeasurement (State &state, const TooN::Vector< State::STATE_DIMENSION > &innovation)
Public Attributes
TooN::Vector< State::STATE_DIMENSION >	sigma
	describes the process noise as independent for each dimension of the state
TooN::Matrix< State::STATE_DIMENSION >	jacobian
	the jacobian of the process modell, here the identity
TooN::Matrix< State::STATE_DIMENSION >	noise
	the actual process noise matrix returned from the associated funcion

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Detailed Description

The Model class implementing a constant position model. It will only update the covariance based on time passing, and update the state correctly from a measurement.

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Constructor & Destructor Documentation

tag::ConstantPosition::Model::Model (  void   )  [inline]

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Member Function Documentation

TooN::Matrix<State::STATE_DIMENSION>& tag::ConstantPosition::Model::getJacobian (  const State &  state, double  dt )  [inline]

Jacobian has pos, rot in this order.

TooN::Matrix<State::STATE_DIMENSION>& tag::ConstantPosition::Model::getNoiseCovariance (  double  dt  )  [inline]

void tag::ConstantPosition::Model::updateFromMeasurement (  State &  state, const TooN::Vector< State::STATE_DIMENSION > &  innovation )  [inline]

void tag::ConstantPosition::Model::updateState (  State &  state, const double  dt )  [inline]

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Member Data Documentation

TooN::Matrix<State::STATE_DIMENSION> tag::ConstantPosition::Model::jacobian

the jacobian of the process modell, here the identity

TooN::Matrix<State::STATE_DIMENSION> tag::ConstantPosition::Model::noise

the actual process noise matrix returned from the associated funcion

TooN::Vector<State::STATE_DIMENSION> tag::ConstantPosition::Model::sigma

describes the process noise as independent for each dimension of the state

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The documentation for this class was generated from the following file:

• constantposition.h

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